TWI810418B - Operating vehicle - Google Patents

Abstract

Disclosed is an operating vehicle which is to perform automatic turning with simple control. The operating vehicle according to an embodiment includes a traveling wheel, a steering device, a motor, a position acquisition device, and a control device. The traveling wheels are attached to the traveling vehicle body. The steering device adjusts a steering amount of a traveling wheel. The motor drives the steering device. The position acquisition device receives positioning information from the positioning means, and acquires current position information of the vehicle body based on the received positioning information. The control device controls the motor. Further, the control device includes a first turning operation mode and a second turning operation mode. The first turning operation mode is a mode in which the motor is controlled and executed so that the steering amount becomes a predetermined value irrespective of the position information, and the second turning operation mode is a mode in which the motor is controlled and executed based on the position information so that the vehicle body reaches a desired direction on the turning traveling route.

Description

Work vehicle

The present invention relates to work vehicles.

Conventionally, there are known work vehicles that perform work while driving in the farmland. The following work vehicles are known: obtain the position information of the work start position and the work end position, create a reference line based on the obtained position information, and automatically perform automatic operation along the created reference line. travel (for example, refer to Patent Document 1). [Prior Art Literature] [Patent Document]

[Patent Document 1] Japanese Unexamined Patent Publication No. 2016-21890.

[Problem to be Solved by the Invention]

In the above-mentioned work vehicle, it is conceivable to make it turn automatically based on the acquired positional information. However, in the case of automatic turning, it is necessary to use the position information over the entire turning stroke, and the control becomes complicated.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a work vehicle capable of automatic turning with simple control. [Means to solve the problem]

In order to solve the foregoing problems and achieve the purpose, the work vehicle described in Scheme 1 is equipped with: traveling wheels (10, 11), which are installed on the traveling vehicle body (2); steering gear (35), which adjusts the aforementioned traveling wheels (10) ) control amount; the motor (95) drives the aforementioned steering device (35); the position acquisition device (150) receives the position measurement information from the position measurement mechanism, and obtains the current position information of the body based on the received position measurement information; and The control device (100) controls the aforementioned motor (95); the aforementioned control device (100) has a first rotary action mode and a second rotary action mode during the rotation of the body, and the aforementioned first rotary action mode is independent of the aforementioned position information The mode is executed by controlling the motor (95) so that the control amount becomes a predetermined value, and the second turning operation mode is a mode in which the body reaches a desired orientation on the turning path (L2) based on the position information Mode performed by controlling the aforementioned motor (95).

The working vehicle described in Scheme 2 is the working vehicle described in Scheme 1, wherein the aforementioned control device (100) executes the aforementioned first turning action mode when the turning of the machine body starts, and executes the aforementioned second turning action mode when the aforementioned first turning action mode ends. Swivel action mode.

The working vehicle described in Scheme 3 is the working vehicle described in Scheme 1 or 2, further comprising: a detection device (90) for detecting the rotational speed of the aforementioned running wheels (11); The start of the operation mode starts detection of the rotation speed, and when the rotation speed reaches a predetermined value, the control device (100) shifts to the second swing operation mode.

The working vehicle described in Scheme 4 is the working vehicle described in any one of Schemes 1 to 3, wherein the aforementioned control device (100) has an automatic straight-traveling mode that allows the body to travel along the straight-traveling path (L1), and if it is heading towards the desired When the aforementioned second turning operation mode at the turning end position (P2) is completed, it shifts to the aforementioned automatic straight mode. [Efficacy of the invention]

According to the work vehicle described in Plan 1, the first turning operation mode that is not based on the position information is executed during the turning of the body, so it is not necessary to use the position information in the whole process of automatic turning control, that is, in the automatic turning As long as there is a part of the control using the position information, automatic rotation can be performed with simple control.

According to the work vehicle described in claim 2, in addition to the effects of the invention described in claim 1, by executing the first turning operation mode when the turning of the body starts, and executing the second turning operation mode when the turning ends, it is possible to use more Simple controls for automatic swivel.

According to the work vehicle described in Claim 3, in addition to the effect of the work vehicle described in Plan 1 or 2, since the detection (counting) of the rotation speed of the running wheels is started with the start of the first turning operation mode, if the rotation speed of the running wheels becomes The predetermined value is transferred to the second turning operation mode. Therefore, similar to the above, only part of the automatic turning is controlled using position information, and the automatic turning can be performed with simple control.

According to the work vehicle described in Scheme 4, in addition to the effect of the work vehicle described in any one of Schemes 1 to 3, if the second turning operation mode toward the desired turning end position (during the turning of the body, the In the case of two or more second turning operation modes, the last second turning operation mode) is completed, and the automatic straight running mode is transferred to the automatic straight running mode as it is, and the automatic straight running is started, so that the work can be continued and the workability can be improved.

Hereinafter, embodiments of the work vehicle disclosed in the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited to embodiment shown below.

[summary of work vehicle] First, an outline of a work vehicle 1 according to the embodiment will be described with reference to FIGS. 1 and 2 . FIG. 1 is a side + (left side) view showing the work vehicle 1 . FIG. 2 is a plan view showing the work vehicle 1 .

In addition, in the following description, the front-rear direction is the traveling direction when the work vehicle 1 travels straight, and the front side of the traveling direction is defined as "front", and the rear side is defined as "rear". The traveling direction of the work vehicle 1 is the direction from the operator's seat 41 toward the steering wheel 35 when traveling straight (see FIGS. 1 and 2 ).

The left-right direction is a direction horizontally perpendicular to the front-rear direction, and the left-right direction is defined toward the "front" side. That is, in a state where the operator (also referred to as an operator) sits on the operation seat 41 and faces forward, the left-hand side is "left" and the right-hand side is "right".

The up and down direction is the plumb direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. Each direction is defined for convenience of description, and the present invention is not limited to these directions.

In addition, in the following description, the work vehicle 1 may be referred to as a "machine body". In the embodiment, a work vehicle will be described as a passenger-type seedling transplanter 1 that includes a seedling planting unit 4 and plants seedlings in a field as a working device. As shown in FIGS. 1 and 2 , the seedling transplanting machine 1 includes a liftable seedling planting unit 4 (working device) on the rear side of a traveling vehicle body 2 via a lift link mechanism 3 for planting seedlings in the field.

The main part of the fertilization device 5 is arranged on the rear upper side of the traveling vehicle body 2 . Moreover, when a work vehicle is not the seedling transplanter 1, it may be equipped with the seeding apparatus etc. which supply a seed as a work apparatus.

The traveling vehicle body 2 is a four-wheel drive vehicle, and includes front wheels 10 and rear wheels 11 which are left and right driving wheels, which are traveling wheels. On the front side of the main frame 15 constituting the vehicle body frame of the traveling vehicle body 2, be provided with: a gearbox 13, which transmits driving force to the seedling planting portion 4 etc.; The system outputs the driving force supplied from the engine 30 , that is, the rotation generated by the engine 30 to the transmission 13 .

The continuously variable transmission device 14 is a so-called hydrostatic continuously variable transmission called HST (Hydro Static Transmission). Hereinafter, a case where the continuously variable transmission is HST14 will be described.

A sub-transmission mechanism 16 is provided in the gearbox 13, and the sub-transmission mechanism 16 switches the travel mode of the traveling vehicle body 2 when traveling on the road in a high-speed mode or when planting seedlings in a low-speed mode. Front wheel end housings 10a are provided on the left and right sides of the gearbox 13, and the front wheels 10 are mounted on the left and right front axles 10b protruding outward from the front wheel support parts respectively. direction of steering.

In addition, on the rear side of the main frame 15, and on the left and right sides of the rear frame 22 (refer to FIG. 2 ) provided in the lateral direction of the machine body, rear wheel gear boxes 11a are installed. Rear wheels 11 (travel wheels) are respectively attached to the left and right rear axles 11b.

In addition, left and right link support frames 23 that support the elevating link mechanism 3 protrude upward from the upper portion of the rear frame 22 . A pair of left and right lower link arms 24 are provided on the lower side of the left and right link support frames 23 and between the left and right. Between the right and left of the left and right lower link arms 24, a lift cylinder 25 (lifting device) operated by hydraulic pressure is provided.

An upper link arm 26 is provided above the lift cylinder 25 to constitute the lift link mechanism 3 as a parallel link mechanism. In addition, the other ends of the left and right lower link arms 24 , lift cylinders 25 , and upper link arms 26 , each of which one end is connected to the traveling vehicle body 2 side, are attached to the front portion of the seedling planting unit 4 .

In addition, an engine 30 is mounted on the main frame 15 . The rotational power of the engine 30 is transmitted to the transmission 13 via the belt transmission 21 and the HST 14 . The rotational power transmitted to the gearbox 13 is divided into driving power and external output power after being shifted by the auxiliary transmission mechanism 16 in the gearbox 13 .

In addition, the rotational power of the engine 30 is transmitted to an unillustrated hydraulic pump. The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14 , the power steering mechanism 88 (see FIG. 3 ) of the steering wheel 35 , the lift cylinder 25 , and the like.

The external output power from the rotary power output transmitted to the gearbox 13 is transmitted to the planting clutch box 27 provided at the rear of the traveling vehicle body 2, and is transmitted from the planting clutch box 27 to the seedling planting part 4 by the planting transmission shaft 67.

On the other hand, left and right drive shafts 42 are provided at the rear of the transmission case 13 . Rotational power from the engine 30 is transmitted to the left and right rear wheel gearboxes 11 a via the gearbox 13 and the drive shaft 42 .

In addition, a side clutch 44 (refer to FIG. 3 ) is arranged on the upstream side of the transmission direction than the left and right drive shafts 42, and the side clutch 44 is used to connect (ON) or disconnect (OFF) relative to the left and right drive shafts 42. power delivery. As shown in FIG. 1 , side clutch pedals 43 a for turning on and off left and right side clutches 44 are provided on the lower front side of the operator's seat 41 and on the left and right sides.

If the side clutch pedal 43a on the turning inner side among the left and right side clutch pedals 43a is stepped on to disengage the side clutch 44, and then the steering wheel 35 is operated to perform turning driving, the drive of the rear wheel 11 on the turning inner side can be completely cut off. rotate.

This makes it possible to appropriately select a work start position for a work strip suitable for farmland conditions, thereby improving work accuracy, by making the turning radius smaller than that of turning travel based on a single operation of the steering wheel 35 .

In this way, the transmission to the rear wheel 11 on the inside of the turning can be stopped during turning, the turning radius can be reduced, and the working position before turning and the working position after turning can be prevented from being far apart, so it is not necessary to readjust the starting work after turning. Position operation to improve work efficiency or work accuracy.

In addition, in the embodiment, in the automatic turning control described later, it is configured such that when the traveling vehicle body 2 is turned and operated by the operation of the steering wheel 35, the side clutch 44 located on the inner side of the turning is turned off, and the side clutch 44 on the turning inner side is turned to the turning inner side. The transmission of rear wheel 11 stops.

A hood 39 in which an operation panel 38 for operating various parts is disposed on the upper front side of the traveling vehicle body 2 is provided. The operation panel 38 is provided with an auto-return switch 48 for switching whether to perform automatic reversing control described later, a monitor 86 (see FIG. 3 ), and the like.

In addition, the hood 39 is provided with a steering wheel 35 for operating the machine body, a shift lever 36 for operating the HST 14 or the seedling planting unit 4 , an auxiliary shift lever 37 for operating the auxiliary transmission mechanism 16 , and the like.

In addition, an openable and closable front cover 40 is provided on the front side of the hood 39 . The interior of the front cover 40 is provided with: a fuel tank or a battery; and an interlocking mechanism for turning the left and right front wheels 10 and the lower sides of the left and right front wheel end housings 10a during manipulation of the steering wheel 35 .

An engine hood 30a covering the upper and side portions of the engine 30 is provided on the rear side of the body than the hood 39 and above the engine 30, and an operator's seat 41 is provided on the upper portion of the engine hood 30a.

The fertilization device 5 is provided on the rear side of the operator's seat 41 and on the rear end side of the main frame 15 . The driving force of the fertilization device 5 is transmitted by a fertilization transmission mechanism provided to face the fertilization device 5 from the left and right sides of the left and right rear wheel gearboxes 11a.

In addition, substantially horizontal step steps 33 are formed on both left and right sides of the lower portion of the hood 30 a and the hood 39 . As shown in FIG. 2 , the step step 33 has a partial lattice shape. For example, even if the soil attached to the shoes of the operator walking on the step step 33 falls, the fallen soil and the like will fall into the farmland.

In addition, as shown in FIG. 1 , the seedling transplanting machine 1 includes a position acquisition device 150 . The position acquisition device 150 receives position measurement information from a position measurement mechanism such as GPS (Global Positioning System) and GNSS (Global Navigation Satellite System; Global Positioning System), and obtains the current position information of the body based on the received position measurement information. . The position acquisition device 150 is attached to, for example, the mounting post 59 and arranged above the traveling vehicle body 2 .

The program for straight travel control and the program for turning control created based on the position information of the position acquisition device 150 are stored in mutually different places. The program for straight travel control is stored in, for example, an ECU (Electronic Control Unit; Electronic Control Unit) 100 a for straight travel in the position acquisition device 150 , and the program for swivel control is stored in, for example, an ECU 100 b for swivel control accommodated in the hood 39 . In addition, ECU100a for straight travel control and ECU100b for turning control are included in the control apparatus 100 (refer FIG. 3) mentioned later.

[Control system of work vehicle] Hereinafter, control system C of the seedling transplanting machine 1 will be described with reference to FIG. 3 . FIG. 3 is a block diagram showing a control system C centering on the control device 100 in the seedling transplanting machine 1 . The seedling transplanting machine 1 can control each part by electronic control, and is equipped with the control apparatus (henceforth a controller) 100 which controls each part.

The controller 100 is provided with a processing unit such as a CPU (Central Processing Unit; central processing unit), a storage unit such as a ROM (Read Only Memory; read-only memory), a RAM (Random Access Memory; random access memory), And the input and output parts, which are connected to each other and can exchange signals with each other. The computer program etc. which control the seedling transplanter 1 are stored in the memory part. The controller 100 performs various functions by reading computer programs and the like stored in the memory.

The controller 100, for example, as a driver, is connected with: throttle motor 80, hydraulic control valves 81, 82, planting clutch operation solenoid 83, side clutch operation solenoid 84, HST motor 85, marker lift motor 87, steering motor 95, etc.

The throttle motor 80 increases or decreases the rotational speed of the output shaft of the engine 30 by operating a throttle that adjusts the intake air amount of the engine 30 . The hydraulic control valve 81 controls the expansion and contraction of the lift cylinder 25 . The hydraulic control valve 82 controls the power steering mechanism 88 . The planting clutch operation solenoid 83 operates the planting clutch 27a.

The side clutch actuation solenoid 84 actuates the side clutch 44 that switches the power transmission state to the rear wheel 11 . In addition, the side clutches 44 are respectively provided on the left and right rear wheels 11 , and two side clutch operation solenoids 84 are provided corresponding to the respective side clutches 44 .

The HST motor 85 changes the inclination angle of the swash plate of the HST 14 by changing the rotation angle of the trunnion of the HST 14 . The steering motor 95 is a motor that drives the steering wheel 35 , which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see FIG. 1 ), which are running wheels, when automatic turning control is performed. The steering motor 95 turns the steering wheel 35 . The scriber elevating motor 87 raises and lowers the scriber 65 .

In addition, a rotational speed sensor 90 , a manipulation amount sensor 91 , an inclination sensor 92 , and the like are connected to the controller 100 as detection means. Two rotation speed sensors 90 are provided corresponding to the left and right rear wheels 11 as traveling wheels, and detect the rotation speeds of the left and right rear wheels 11 , respectively. In addition, the rotational speed sensor 90 may detect the rotational speeds of the left and right front wheels 10 .

The manipulation amount sensor 91 detects the manipulation amount (rudder angle) of the front wheels 10 as the manipulation amount of the steering wheel 35 as a steering device. In addition, the steering amount is detected in the left and right directions based on the case where the operation amount of the steering wheel 35 is zero, that is, when the traveling vehicle body 2 is traveling straight. The inclination sensor 92 detects the inclination angle of the inclination of the traveling vehicle body 2 .

In addition, signals are input to the controller 100 as operation signals from the shift lever 36, the auxiliary shift lever 37, the planting section automatic lift switch 47, the automatic rotary switch 48, the marker automatic lift switch 49, and the like.

The planting unit automatic elevation switch 47 is a switch for switching whether to automatically raise and lower the seedling planting unit 4 in conjunction with the operation amount of the steering wheel 35 , that is, the operation amount of the front wheels 10 . When the planting part automatic raising and lowering switch 47 is ON, the control which makes the seedling planting part 4 automatically raise and lower in conjunction with the manipulation amount is performed. On the other hand, when the planting part automatic raising and lowering switch 47 is OFF, the control to automatically raise and lower the seedling planting part 4 in conjunction with the manipulation amount is not executed.

The marker automatic lift switch 49 is a switch for switching whether or not to automatically raise and lower the marker 65 in conjunction with the operation amount of the steering wheel 35 , that is, the manipulation amount of the front wheels 10 . When the scriber automatic raising and lowering switch 49 is turned on, control to automatically raise and lower the scriber 65 in conjunction with the manipulation amount is executed. On the other hand, when the scriber automatic lift switch 49 is OFF, the control to automatically raise and lower the scriber 65 in conjunction with the manipulation amount is not performed.

The automatic rotary switch 48 is a bounce switch with a light, and is an automatic rotary switch for switching start or stop. The automatic reversing switch 48 is turned on by the operator while the automatic reversing is performed, and is turned off and turned off when the automatic reversing is completed. In addition, the automatic turning switch 48 is turned off by the operator during the automatic turning, and is turned off when the automatic turning is stopped. Thereby, the operator can confirm whether automatic rotation is being performed.

In addition, the current location information of the machine is input from the location obtaining device 150 to the controller 100 . The controller 100 executes an autonomous driving mode in which the body performs work while driving automatically based on the location information. The auto turn switch 48 , rotational speed sensor 90 , manipulation amount sensor 91 , steering motor 95 , steering wheel 35 , and position acquisition device 150 constitute a control system C in an auto turn mode described later centering on the controller 100 .

[Autonomous driving mode] Here, automatic running (autonomous running) including automatic turning in the field of the seedling transplanting machine 1 will be described with reference to FIG. 4 . FIG. 4 is an explanatory diagram of autonomous running of the work vehicle (seedling transplanting machine 1 ) in a farm field. The controller 100 (see FIG. 3 ) has an autonomous driving mode in which the steering wheel 35 (see FIG. 3 ) is operated by controlling the steering motor 95 (see FIG. 3 ) while feeding back the steering amount of the front wheels 10 (see FIG. 1 ). Autonomous driving modes include automatic straight mode and automatic turning mode.

As shown in FIG. 4 , in the autonomous driving mode, the seedling transplanter 1 automatically performs seedling planting work while repeating straight running and turning along a predetermined running route in the farmland F. In addition, as described above, the controller 100 obtains the current position information of the seedling transplanting machine 1 through the position obtaining device 150 arranged above the traveling vehicle body 2 .

The seedling transplanting machine 1 reciprocates within a predetermined work area in the field F, and plants seedlings. In this case, for straight travel, the controller 100 executes the automatic straight travel mode, whereby automatic travel is performed along the set straight travel route L1. In addition, for the turning travel, the controller 100 executes the automatic turning mode, whereby the automatic turning is performed along the set turning travel route L2.

The straight travel path L1 is parallel to the reference line L0 serving as a travel reference. The reference line L0 is set in the field F so as to coincide with the planting direction of the seedlings. The controller 100 acquires the start position and end position of straight travel as a reference start point (point A) and reference end point (point B), respectively, and registers a line connecting points A and B as a reference line L0.

In addition, the controller 100 has a first turning operation mode and a second turning operation mode as the automatic turning mode. The controller 100 executes it as an automatic turning mode by combining the first turning operation mode and the second turning operation mode. Furthermore, if the auto-reverse switch 48 is turned on by the operator, the controller 100 executes the auto-reverse mode.

In the first turning operation mode, the controller 100 controls the steering motor 95 so that the manipulation amount of the steering wheel 35 becomes a predetermined value during turning of the seedling transplanting machine 1 . In this case, the controller 100 executes processing regardless of the position information acquired by the position acquisition device 150 .

In the second turning operation mode, the controller 100 controls the seedling transplanting machine 1 to reach any desired position on the turning path L2 based on the position information acquired by the position acquiring device 150 during the turning of the seedling transplanting machine 1. Steering motor 95.

In this way, the controller 100 has a first turning action mode and a second turning action mode, and the first turning action mode that is not an action mode based on position information is executed during the turning of the body, so it is not necessary to use the position in the automatic turning control. Information. Therefore, only part of the automatic rotation needs to be controlled using the positional information, and the automatic rotation can be performed with simple control.

In addition, the controller 100 performs correction based on the position information acquired by the position acquisition device 150 when the seedling transplanting machine 1 deviates from the turning path L2 and turns (large circle or small circle) in the automatic turning mode. .

[Automatic turning mode of the first embodiment] Hereinafter, the automatic turning mode of the first embodiment will be described with reference to FIGS. 5 to 8 . 5 is an explanatory diagram of automatic turning control (automatic turning mode) of the first embodiment. FIG. 6 is a flowchart showing the processing procedure of automatic turning control (automatic turning mode) in the first embodiment.

In addition, FIG. 7 is a flowchart which shows the processing procedure of the control which starts automatic turning control (automatic turning mode). Fig. 8 is a flowchart showing a processing procedure of control for shifting from the first swing operation mode to the second swing operation mode.

As shown in Figure 5, in the automatic turning mode of the first embodiment, if it is close to the preset desired turning start position (in the case of agricultural machinery such as the seedling transplanter 1, it is also the work end position in one row) At the position of P1, the operator presses the automatic rotary switch 48 (referring to FIG. 3 ), and the seedling transplanting machine 1 that advances in the automatic straight mode starts to rotate automatically.

When the automatic rotation is started, the seedling transplanting machine 1 starts traveling in the first rotation operation mode. In the first turning operation mode, the seedling transplanting machine 1 travels along the turning travel path L2, and ends the traveling in the first turning operation mode at an end position (mode end position) P3 on the turning traveling path L2. The seedling transplanting machine 1 starts traveling by the 2nd turning operation mode after finishing traveling by the 1st turning operation mode.

In the second turning operation mode, the seedling transplanting machine 1 moves along the downward direction at the desired turning end position (in the case of agricultural machines such as the seedling transplanting machine 1, it is also the work start position in the next article) P2 while being in advance. One straight travel path L1 travels while gradually correcting the position (straight travel), and when the travel by the second turning operation mode ends, the next travel starts in the automatic straight travel mode.

As shown in FIG. 6 , in the first embodiment, the controller 100 determines whether or not the automatic revolving switch 48 has been turned on (step S101 ). When the automatic rotary switch 48 is operated to "ON" (step S101: YES), the controller 100 determines whether the seedling transplanting machine 1 has reached the rotation start position P1 (step S102). When the controller 100 determines that the turning start position P1 has been reached (step S102: Yes), execution of the first turning operation mode is started (step S103).

In the process of step S101, when the automatic rotary switch 48 is not operated to "ON" (step S101: NO), the controller 100 repeats this process until the "ON" operation is performed. Moreover, in the process of step S102, when the seedling transplanting machine 1 has not arrived at the turning start position P1 (step S102: NO), the controller 100 repeats this process until reaching the turning start position P1.

Next, the controller 100 determines whether the seedling transplanting machine 1 has reached the end position (mode end position) P3 of the first turning operation mode (step S104). When reaching the mode end position P3 (step S104: YES), the controller 100 ends execution of the 1st turning operation mode (step S105), and starts execution of the 2nd turning operation mode (step S106).

In the process of step S104, when the seedling transplanting machine 1 has not reached the mode end position P3 (step S104: NO), the controller 100 repeats this process until it reaches the mode end position P3.

Next, the controller 100 determines whether the seedling transplanting machine 1 has reached the end position of the second turning operation mode, that is, the turning end position P2 (step S107). When reaching the turning end position P2 (step S107: Yes), the controller 100 ends execution of the second turning operation mode (step S108), and ends the turning operation mode.

Here, in the first turning operation mode, the controller 100 controls the steering motor 95 (see FIG. 3 ) such that the orientation of the body is, for example, 0 degrees when traveling straight and turns to either side, for example, 70 degrees left or right. When the direction of the body becomes 70 degrees, the controller 100 controls the steering motor 95 so that the direction of the body becomes 90 degrees so as to start returning to straight travel.

When shifting from the first turning operation mode to the second turning operation mode, the controller 100 controls the steering motor 95 so that the next straight travel path L1 facing the body falls within a range of, for example, 0° to 20°. The controller 100 makes the orientation of the body within the range of 0 degrees to 20 degrees in advance at the start of the second turning action mode, so that in the second turning action mode based on the position information obtained by the position acquisition device 150 (refer to FIG. 3 ). Correct the orientation of the machine body so that it follows the straight travel path L1 to complete the turning action.

In the process of step S107, when the seedling transplanting machine 1 has not reached the turning end position P2 (step S107: NO), the controller 100 repeats this process until reaching the turning end position P2. When the controller 100 ends the turning operation mode, it starts the execution of the automatic straight mode.

In addition, as shown in FIG. 7 , in the processing shown in FIG. 6 (step S101 ), the controller 100 determines the distance from the current position of the seedling transplanter 1 to the position based on the position information obtained by the position acquisition device 150 during the automatic straight mode. Whether or not the distance from the turning start position P1 is equal to or less than a predetermined distance D (step S1011). The controller 100 calculates the traveling distance based on the positioning information, and determines whether the distance from the current position of the seedling transplanting machine 1 to the turning start position P1 is less than or equal to a predetermined distance D. In addition, the controller 100 may calculate the traveling distance based on the rotational speed of the traveling wheels. The distance to the end position of the rotation≦predetermined distance?

The controller 100 performs the determination based on the travel distance of the process before the planting process immediately preceding the planting process in the current straight travel.

The rotation start position P1 in the current planting process can be predicted to be in the vicinity of the straight line in the current planting process and corresponds to the travel distance in the previous process. For example, in the current planting process, the position at which the rotation actually starts can be predicted to be within the range of about ±5 m from the travel distance in the previous process.

Therefore, the controller 100 predicts the turning start position P1 based on the traveling distance in the preceding process. Specifically, when the position to be the travel distance in the preceding process is predicted as the turning start position P1, and the distance from the current position of the seedling transplanting machine 1 to the turning starting position P1 is equal to or less than a predetermined distance D, the controller 100 It is judged that the straight distance in this planting process is the vicinity of the turning position, that is, the head of the field.

In addition, the rotation start position P1 can also be identified by the coordinates based on the positioning information.

In the case where the distance to the turning start position P1 is below the predetermined distance D (step S1011: Yes), if the automatic turning switch 48 is "ON" operated, the controller 100 executes the first turning operation mode (step S1012 ).

In the process of step S1011, when the distance to the turning start position P1 exceeds the predetermined distance D (step S1011: NO), even if the automatic turning switch 48 is turned "ON", the controller 100 does not execute the first step. One turning operation mode (step S1013), but continue the automatic straight mode.

In addition, the end position P3 of the first turning operation mode is set based on the rotation speed of the rear wheel 11 (see FIG. 1 ) detected (counted) by the rotation speed sensor 90 (see FIG. 3 ). As shown in FIG. 8, when the controller 100 starts the execution of the first turning operation mode in the process shown in FIG. Whether or not the rotational speed of the rear wheel 11 has reached a predetermined value (count value) (step S1032).

When the rotation speed of the rear wheel 11 reaches the predetermined count value (step S1032: Yes), the controller 100 determines that the end position P3 has been reached and ends the execution of the first turning action mode and executes the second turning action mode (step S1032: Yes). S1033). In the process of step S1032, when the rotational speed of the rear wheel 11 is not the predetermined count value (step S1032: NO), the controller 100 repeats this process until it reaches the predetermined count value.

According to the first embodiment described above, by executing the first turning operation mode when the turning of the seedling transplanting machine 1 starts and executing the second turning operation mode when the turning ends, automatic turning can be performed with simpler control.

In addition, since the counting of the rotation speed of the rear wheel 11 starts with the start of the first turning operation mode, and shifts to the second turning operation mode when the rotation speed of the rear wheel 11 reaches a predetermined count value, only a part of the automatic turning operation is active. It is only necessary to control using the position information, and it is possible to perform automatic rotation with simple control.

In addition, when the distance from the current position of the seedling transplanter 1 to the turning start position P1 is short, the first turning operation mode is executed when the automatic turning switch 48 is operated to "ON". On the other hand, when the distance from the present position to the turning start position P1 of the seedling transplanting machine 1 is long, even if the automatic turning switch 48 is operated, the 1st turning operation mode is not performed. In this way, for example, the first turning operation mode is not executed even if the automatic turning switch 48 is operated at a position other than the turning start position P1 such as near the center of the field (that is, an erroneous operation), so that erroneous operation can be prevented.

In addition, when the second turning operation mode toward the turning end position P2 is completed, the automatic straight running mode is shifted to and the automatic straight running is started, so that the work can be continued and workability can be improved.

In addition, in the first embodiment, the second turning operation mode is executed after the first turning operation mode is executed, but as a modified example, for example, after the second turning operation mode is executed, the first turning operation mode may be executed to reach the turning end position P2. .

[Automatic turning mode of the second embodiment] Hereinafter, the automatic turning mode of the second embodiment will be described with reference to FIGS. 9 and 10 . 9 is an explanatory diagram of automatic turning control (automatic turning mode) of the second embodiment. FIG. 10 is a flowchart showing the processing procedure of the automatic turning control (automatic turning mode) of the second embodiment.

As shown in FIG. 9, in the automatic rotation mode of the second embodiment, as in the above-mentioned first embodiment, if the seedling transplanting machine 1 advancing in the automatic straight mode is close to the preset desired rotation start position The position of P1 starts automatic rotation when the operator presses the automatic rotation switch 48 (refer to FIG. 3 ).

When automatic turning is started, the seedling transplanting machine 1 starts traveling by the second turning operation mode (first time), and travels along the turning traveling route L2. The seedling transplanting machine 1 finishes traveling by the first-time second turning operation mode at the end position (mode end position) P4 on the turning travel route L2.

The seedling transplanting machine 1 will start traveling by the 1st turning operation mode after finishing the traveling by the 2nd turning operation mode for the first time. The seedling transplanting machine 1 finishes traveling by the first turning operation mode at the mode end position P5 on the turning traveling route L2. The seedling transplanting machine 1 restarts the traveling by the 2nd turning operation mode (second time) after finishing traveling by the 1st turning operation mode.

In the second second turning operation mode, the seedling transplanting machine 1 advances (straight) while gradually correcting the position along the next straight traveling path L1 at the desired turning end position P2 set in advance, After finishing the travel in the second turning operation mode for the second time, the travel in the next line starts in the automatic straight travel mode.

As shown in FIG. 10 , in the second embodiment, the controller 100 determines whether or not the automatic revolving switch 48 has been operated to "ON" (step S201). When the automatic rotary switch 48 is operated to "ON" (step S201: YES), the controller 100 determines whether the seedling transplanting machine 1 has reached the rotation start position P1 (step S202). When it is determined that the turning start position P1 has been reached (step S202: Yes), the controller 100 starts execution of the second turning operation mode (first time) (step S203).

In the process of step S201, when the automatic rotary switch 48 is not operated to "ON" (step S201: NO), the controller 100 repeats this process until the "ON" operation is performed. Moreover, in the process of step S202, when the seedling transplanting machine 1 has not arrived at the turning start position P1 (step S202: No), the controller 100 repeats this process until reaching the turning start position P1.

Next, the controller 100 determines whether the seedling transplanting machine 1 has reached the end position (mode end position) P4 of the first second turning operation mode (step S204). When the mode end position P4 is reached (step S204: Yes), the controller 100 ends execution of the first second turning operation mode (step S205), and starts execution of the first turning operation mode (step S206).

In the process of step S204, when the seedling transplanting machine 1 has not reached the mode end position P4 (step S204: NO), the controller 100 repeats this process until it reaches the mode end position P4.

Next, the controller 100 determines whether the seedling transplanting machine 1 has reached the end position (mode end position) P5 of the first turning operation mode (step S207). In the case of reaching the mode end position P5 (step S207: Yes), the controller 100 ends the execution of the first turning action mode (step S208), and starts the execution of the second turning action mode (second time) (step S209) .

In the process of step S207, when the seedling transplanting machine 1 has not reached the mode end position P5 (step S207: NO), the controller 100 repeats this process until it reaches the mode end position P5.

Next, the controller 100 determines whether the seedling transplanting machine 1 has reached the turning end position P2 which is the end position of the second turning operation mode of the second time (step S210 ). When reaching the turning end position P2 (step S210: Yes), the controller 100 ends execution of the second turning operation mode (step S211), and ends the turning operation mode.

In the process of step S210, when the seedling transplanting machine 1 has not arrived at the turning end position P2 (step S210: NO), the controller 100 repeats this process until reaching the turning end position P2. When the controller 100 ends the turning operation mode, it starts the execution of the automatic straight mode.

Here, when shifting from the first turning operation mode to the second second turning operation mode, the controller 100 controls the steering motor 95 so that the orientation of the body becomes, for example, 0 degrees with respect to the next straight travel path L1. to within 20 degrees. The controller 100 makes the orientation of the machine body enter the range of 0 degrees to 20 degrees at the beginning of the second second turning action mode, so that in the second second turning action mode, based on the position acquisition device 150 ( Refer to FIG. 3 ) to correct the orientation of the machine body so that it follows the straight travel path L1 through the obtained position information, so as to complete the turning action.

In addition, also in the second embodiment, as in the first embodiment, the controller 100, in the process shown in FIG. It is judged whether the distance from the current position of the seedling transplanter 1 to the rotation start position P1 is equal to or less than a predetermined distance D based on the position information acquired in the machine.

When the distance to the turning start position P1 is equal to or less than the predetermined distance D, when the automatic turning switch 48 is turned ON, the controller 100 executes the first second turning operation mode.

When the distance to the turning start position P1 exceeds the predetermined distance D, even if the automatic turning switch 48 is turned ON, the controller 100 does not execute the first turning operation mode, but continues the automatic straight mode.

Also in the second embodiment, as in the first embodiment, the end position P5 of the first turning operation mode is based on the rotation speed of the rear wheel 11 (see FIG. 1 ) counted by the rotation speed sensor 90 (see FIG. 3 ). to set. In the processing shown in FIG. 10 (step S206), when the controller 100 starts the execution of the first turning operation mode, the counting of the rotation speed of the rear wheel 11 is started accordingly, and it is determined whether the rotation speed of the rear wheel 11 has reached a predetermined value. count value of .

When the rotational speed of the rear wheel 11 reaches the predetermined count value, the controller 100 determines that the mode end position P5 has been reached, ends the execution of the first turning operation mode, and executes the second turning operation mode for the second time. When the rotational speed of the rear wheel 11 is not the predetermined count value, the controller 100 repeats this process until it reaches the predetermined count value.

According to the second embodiment described above, by executing the first turning operation mode when the turning of the seedling transplanting machine 1 starts and executing the second turning operation mode when the turning ends, automatic turning can be performed with simpler control.

In addition, since the first turning operation mode is executed when the body is running straight in the middle of the turning after the completion of the first second turning operation mode, the running error caused by the slippage of the rear wheel 11 in the first turning operation mode can be reduced, Therefore, the automatic turning can be performed reliably with respect to the turning stroke as a whole.

In addition, since the counting of the rotation speed of the rear wheel 11 starts with the start of the first turning operation mode, and when the rotation speed of the rear wheel 11 reaches a predetermined count value, it will transfer to the second turning operation mode for the second time. Part of it is only necessary to have control using position information, and automatic rotation can be performed with simple control.

In addition, when the distance from the current position of the seedling transplanter 1 to the turning start position P1 is short, the first turning operation mode is executed when the automatic turning switch 48 is operated to "ON". On the other hand, when the distance from the present position to the turning start position P1 of the seedling transplanting machine 1 is long, the first turning operation mode is not executed even if the automatic turning switch 48 is operated. In this way, for example, even if the automatic revolving switch 48 is operated (that is, misoperated) at a position other than the pivot start position P1 near the center of the field, the first pivoting operation mode is not executed, thereby preventing misoperation.

In addition, when the second turning operation mode toward the turning end position P2 ends, the automatic straight mode is changed to the automatic straight mode and the automatic straight travel is started, so that the work can be continued and the workability can be improved.

In addition, in the second embodiment, after performing the second swing operation mode, the first swing operation mode is performed, and then the second swing operation mode is executed again, but as a modified example, for example, after the first swing operation mode is executed, the second Swing motion mode, and then execute the first swing motion mode again and reach the swing end position P2.

In addition, an automatic turning mode in which the first turning operation mode and the second turning operation mode are respectively executed twice or more may be employed.

[Automatic turning mode of the third embodiment] Hereinafter, the automatic turning mode of the third embodiment will be described with reference to FIGS. 11 and 12 . Fig. 11 is an explanatory diagram of automatic turning control (automatic turning mode) of the third embodiment. FIG. 12 is a flowchart showing the processing procedure of the automatic turning control (automatic turning mode) of the third embodiment.

As shown in FIG. 11 , the third embodiment is an automatic turning mode in the case of the so-called reverse turning with collision in which the seedling transplanting machine 1 goes straight to the head of the field, retreats a predetermined distance, and then turns.

In the automatic turning mode of the third embodiment, if the seedling transplanting machine 1 advancing to the head of the field in the automatic straight mode is operated by the operator to the reverse side, the speed change operation lever (referred to as the HST lever) 36 (referred to as the HST lever) 36 (refer to FIG. The next working route (the turning travel route L2 and the next straight travel route L1 ) starts automatic turning including the reverse movement.

When the automatic rotation is started, the seedling transplanter 1 retreats a predetermined distance, then starts traveling in the second turning operation mode (first time), and travels along the turning travel route L2. The seedling transplanting machine 1 finishes traveling by the first-time second turning operation mode at the end position (mode end position) P6 on the turning travel route L2.

The seedling transplanting machine 1 will start traveling by the 1st turning operation mode after finishing the traveling by the 2nd turning operation mode for the first time. The seedling transplanting machine 1 finishes traveling by the first turning operation mode at the mode end position P7 on the turning traveling route L2. The seedling transplanting machine 1 restarts the traveling by the 2nd turning operation mode (second time) after finishing traveling by the 1st turning operation mode.

In the second turning operation mode for the second time, the seedling transplanting machine 1 advances (straight) while gradually correcting the position along the next straight traveling path L1 at the desired turning end position P2 set in advance (going straight). After finishing the travel in the second turning operation mode for the second time, the travel in the next line starts in the automatic straight travel mode.

As shown in FIG. 12 , in the third embodiment, the controller 100 determines whether the HST lever 36 is operated to the "reverse" side (step S301 ). When the HST lever 36 is operated to the "backward" side (step S301: YES), the controller 100 starts the backward movement of the seedling transplanting machine 1 (step S302).

The controller 100 determines whether the seedling transplanting machine 1 has reached the rotation start position P1 (step S303). If it is determined that the rotation start position P1 has been reached (step S303: Yes), the controller 100 ends the retreat of the seedling transplanter 1 (step S304), and starts the execution of the second rotation operation mode (first time) (step S305).

In the process of step S301, when the HST lever 36 is not operated to the "backward" side (step S301: NO), the controller 100 repeats this process until it is operated to the "backward" side. Moreover, in the process of step S303, when the seedling transplanting machine 1 has not arrived at the turning start position P1 (step S303: NO), the controller 100 repeats this process until reaching the turning start position P1.

Next, the controller 100 determines whether the seedling transplanting machine 1 has reached the end position (mode end position) P6 of the first second turning operation mode (step S306). When the mode end position P6 has been reached (step S306: Yes), the controller 100 ends execution of the first second turning operation mode (step S307), and starts execution of the first turning operation mode (step S308).

In the process of step S306, when the seedling transplanting machine 1 has not reached the mode end position P5 (step S306: NO), the controller 100 repeats this process until it reaches the mode end position P6.

Next, the controller 100 determines whether the seedling transplanting machine 1 has reached the end position (mode end position) P7 of the first turning operation mode (step S309). In the case of reaching the mode end position P7 (step S309: Yes), the controller 100 ends the execution of the first turning action mode (step S310), and starts the execution of the second turning action mode (second time) (step S311) .

In the process of step S309, when the seedling transplanting machine 1 has not reached the mode end position P7 (step S309: NO), the controller 100 repeats this process until it reaches the mode end position P7.

Next, the controller 100 determines whether the seedling transplanting machine 1 has reached the turning end position P2 which is the end position of the second turning operation mode of the second time (step S312 ). When the turning end position P2 has been reached (step S312: Yes), the controller 100 ends execution of the second turning operation mode (step S313) to end the turning operation mode.

In the process of step S312, when the seedling transplanting machine 1 has not arrived at the turning end position P2 (step S312: NO), the controller 100 repeats this process until reaching the turning end position P2. When the controller 100 ends the turning operation mode, it starts the execution of the automatic straight mode.

Here, when shifting from the first turning operation mode to the second second turning operation mode, the controller 100 controls the steering motor 95 so that the orientation of the body becomes, for example, 0 degrees with respect to the next straight travel path L1. to within 20 degrees. The controller 100 makes the orientation of the machine body enter the range of 0 degrees to 20 degrees at the beginning of the second second turning action mode, so that in the second second turning action mode, based on the position acquisition device 150 ( Refer to FIG. 3 ) to correct the orientation of the machine body so that it follows the straight travel path L1 through the obtained position information, so as to complete the turning action.

Also in the third embodiment, as in the first and second embodiments, the end position P7 of the first turning operation mode is based on the rear wheel 11 counted by the rotational speed sensor (90) (see FIG. 3 ). (Refer to Figure 1) to set the speed. In the processing shown in FIG. 12 (step S308), when the controller 100 starts the execution of the first turning operation mode, it starts counting the rotation speed of the rear wheels 11 to determine whether the rotation speed of the rear wheels 11 has reached a predetermined value. count value of .

When the rotational speed of the rear wheel 11 reaches the predetermined count value, the controller 100 determines that the mode end position P7 has been reached, ends the execution of the first turning operation mode, and executes the second turning operation mode for the second time. When the rotational speed of the rear wheel 11 is not the predetermined count value, the controller 100 repeats this process until it reaches the predetermined count value.

Furthermore, even during reverse running at the initial stage of the turning operation, the controller 100 determines whether or not the turning start position P1 has been reached based on the rotational speed of the rear wheels 11 which are running wheels.

According to the third embodiment described above, similarly to the first embodiment and the second embodiment, the first turning operation mode is executed when the rotation of the seedling transplanting machine 1 starts, and the second turning operation mode is executed when the turning ends. Therefore, automatic rotation can be performed with simpler control.

In addition, since the first turning operation mode is executed when the body is going straight in the middle of turning after the end of the first second turning operation mode, it is possible to reduce the running error caused by the sliding of the rear wheel 11 in the first turning operation mode, The automatic rotation can be reliably performed with respect to the entire rotation stroke.

In addition, the counting of the rotation speed of the rear wheel 11 is started with the start of the first turning operation mode, and when the rotation speed of the rear wheel 11 reaches a predetermined count value, it is transferred to the second turning operation mode for the second time. As long as there is a part of the control using the position information, automatic rotation can be performed with simple control.

In addition, when the second turning operation mode toward the turning end position P2 ends, the automatic straight mode is shifted to the automatic straight mode and the automatic straight travel is started, so that the work can be continued and workability can be improved.

In addition, in the third embodiment, as a modified example, for example, after executing the first turning operation mode, the second turning operation mode may be executed, and then the first turning operation mode may be executed again to reach the turning end position P2.

In addition, an automatic turning mode in which the first turning operation mode and the second turning operation mode are respectively executed twice or more may be employed.

In addition, in the first embodiment to the third embodiment, it is preferable that the controller 100 sets an upper limit value to the running speed of the seedling transplanting machine 1 in the automatic turning mode to limit the vehicle speed. Thereby, the turning operation can be stabilized and safety can be ensured. In addition, when the controller 100 determines that the turning is completed based on the position information from the position obtaining device 150 , the vehicle speed is released from the restriction and the vehicle speed is set to the position of the shift lever (HST lever) 36 .

In addition, in the first to third embodiments, the controller 100 sets the rotational speed of the rear wheels 11 in a changeable manner. In addition, when the operator "raises" the assist lever during execution of the automatic straight mode or the automatic swivel mode, the controller 100 cancels each mode.

In addition, in the first to third embodiments, the controller 100 cancels the automatic turning mode when the operator operates to turn the Z to "OFF" during execution of the automatic turning mode. In addition, during execution of the automatic turning mode, when the operator performs an "OFF" operation on the scriber automatic lift switch 49 (see FIG. 3 ), the controller 100 cancels the automatic turning mode.

In addition, in the first to third embodiments, when the operator operates the HST lever (shift operation lever) 36 (see FIG. 3 ) to the "reverse" side during execution of the automatic turning mode, The controller 100 releases the automatic swing mode. In addition, when the operator operates the steering wheel 35 (see FIG. 3 ) during execution of the automatic turning mode, the controller 100 cancels the automatic turning mode.

In addition, in the first embodiment to the third embodiment, when the seedling transplanting machine 1 is stopped or the engine 30 (refer to FIG. 1 ) is stopped during the execution of the automatic rotation mode, the controller 100 temporarily suspends (holds) the automatic rotation mode. swivel mode. In addition, when the seedling transplanting machine 1 stops or the engine 30 stops during execution of the automatic turning mode, the controller 100 may control so that the automatic turning mode may be stopped.

In addition, in the first embodiment to the third embodiment, when the headland alarm release switch is pressed, the controller 100 cancels the headway stop during the headland alarm operation. In addition, the controller 100 may display on the monitor 86 (see FIG. 3 ) whether or not the automatic rotation is possible. In addition, when the automatic rotation cannot be performed, the controller 100 may display a reminder on the monitor 86, for example.

In addition, in the third embodiment, even if the seedling transplanting machine 1 stops during the backward movement, the controller 100 does not stop the automatic turning mode. Thereby, for example, even if the vehicle is stopped when going backward due to an accident such as seedling sticking, automatic rotation can be continued.

In addition, in the first embodiment to the third embodiment, the automatic turning mode (in the third embodiment, the movement of retreating movement is excluded in the automatic turning mode) may be configured to be completed only by the first turning operation mode. It can be constructed only by the second turning action mode.

In addition, in the first embodiment to the third embodiment, the start of the automatic rotation may be the timing of performing the "lifting operation" of the raising and lowering operation for raising and lowering the seedling planting part 4 . That is, the automatic rotary switch 48 may also be a switch that raises the seedling planting part 4 by an operator's operation, and may also be a switch that detects the rising of the seedling planting part 4 or detects the start of the control that makes the seedling planting part 4 rise. detection department.

In addition, the start of the automatic rotation may be the timing when the power transmission to the seedling planting device 55 is "OFF", the timing when the output device 71 of the fertilization device 5 is stopped, or the timing when the power transmission to the soil preparation rotary member 63 is "OFF". opportunity.

In this way, the timing to start the automatic rotation should only be the timing when the drive of the seedling planting unit 4 and other farmland working devices is "OFF".

In addition, the work vehicle 1 may be a tractor. In this case, the farm work equipment is a revolving body or the like. The above-described turning control can also be applied to turning of the tractor.

More effects and modified examples can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the specific detailed and representative embodiments described and described above. Therefore, various changes can be made without departing from the spirit or range of the concept of the general invention defined by the patent claims and their equivalents.

1: Seedling transplanting machine (working vehicle) 2: Driving body 3: Lifting linkage mechanism 4: Seedling planting department 5: Fertilization device 10: Front wheel (travel wheel) 10a: Front wheel end housing 10b: Front axle 11: rear wheel 11a: Rear wheel gearbox 11b: Rear axle 13: gearbox 14: Continuously variable transmission (HST) 15: Main frame 16: Auxiliary transmission mechanism 21: belt drive 22: rear frame 23: Connecting rod support frame 24: Lower link arm 25:Lift cylinder 26: Upper link arm 27: Plant Clutch Box 27a: Planting Clutch 30: engine 30a: Hood 33: Pedal steps 35: steering wheel (steering device) 36: Shift operating lever 37: Auxiliary transmission lever 38: Operation panel 39: Hood 40: front mask 41: Operation seat 42: drive shaft 43a: side clutch pedal 44: side clutch 47: Automatic lifting switch of planting department 48: Automatic rotary switch 49: Scribe automatic lifting switch 55: Seedling planting device 59:Installing the struts 63: Ground preparation rotating parts 65:Scriber 67: planting drive shaft 71: output device 80:Throttle motor 81,82: Hydraulic Control Valves 83: planting clutch working solenoid 84: side clutch working solenoid 85:HST motor 86: monitor 87: Scribe lifting motor 88: Power Steering Mechanism 90: Speed sensor (detection device) 91: Manipulation amount sensor 92: Tilt sensor 95: Steering motor (motor) 100: Control device (controller) 100a: ECU for straight travel control 100b: ECU for slewing control 150: Position acquisition device A: Datum starting point B: base end point C: control system D: distance F: Farmland L0: baseline L1: Straight driving path L2: Swing path P1: rotation start position P2: Rotation end position P3, P4, P5, P6, P7: end position (pattern end position)

[ Fig. 1 ] is a side view showing an example of a work vehicle. [FIG. 2] It is a top view which shows an example of a work vehicle. [ Fig. 3 ] is a block diagram showing a control system centering on a control device. [ Fig. 4 ] is an explanatory diagram of autonomous running of a work vehicle in a farm field. [FIG. 5] It is explanatory drawing of the automatic turning control of 1st Embodiment. [FIG. 6] It is a flowchart which shows the processing procedure of the automatic turning control of 1st Embodiment. [FIG. 7] It is a flowchart which shows the processing procedure of the control which starts automatic turning control. [FIG. 8] It is a flowchart which shows the processing procedure of the control which shifts from a 1st turning operation mode to a 2nd turning operation mode. [FIG. 9] It is explanatory drawing of the automatic turning control of 2nd Embodiment. [ Fig. 10 ] is a flowchart showing the processing procedure of the automatic turning control in the second embodiment. [FIG. 11] It is explanatory drawing of the automatic turning control of 3rd Embodiment. [ Fig. 12 ] is a flowchart showing the processing procedure of the automatic turning control in the third embodiment.

1: Seedling transplanting machine (working vehicle)

D: distance

L1: Straight driving path

L2: Swing path

P1: rotation start position

P2: Rotation end position

P4, P5: end position (pattern end position)

Claims (3)

A working vehicle is provided with: driving wheels (10, 11), which are installed on the driving body (2); a steering device (35), which adjusts the control amount of the aforementioned driving wheels (10); a motor (95), which drives The aforementioned steering device (35); the position acquisition device (150), which receives position measurement information from the position measurement mechanism, and obtains the current position information of the body based on the received position measurement information; the control device (100), which controls the aforementioned motor (95) and the detection device (90), which detects the rotating speed of the aforementioned traveling wheels (11); the aforementioned control device (100) has a first turning action mode and a second turning action mode in the revolution of the body, and the aforementioned first turning action mode is The mode is executed by controlling the motor (95) so that the control amount becomes a predetermined value regardless of the position information, and the second turning operation mode is based on the position information so that the body reaches all points on the turning travel path (L2). A mode in which the motor (95) is controlled in a desired direction; the detection device (90) starts detection of the rotation speed with the start of the first rotation operation mode, and if the rotation speed reaches a predetermined value, the control device (100) Transfer to the aforementioned second turning operation mode. The work vehicle as described in Claim 1, wherein the aforementioned control device (100) executes the aforementioned second turning action mode when the turning of the machine body starts, and executes the aforementioned first turning action mode when the aforementioned second turning action mode ends, if the aforementioned After the first swing action mode ends, the aforementioned second swing action mode will be executed. The work vehicle as described in claim 1 or 2, wherein the aforementioned control device (100) has an automatic straight mode that allows the body to travel along the straight travel path (L1), if the aforementioned second position toward the desired turning end position (P2) When the turning operation mode ends, it transfers to the aforementioned automatic straight-ahead mode.